#ifndef __ROBERT_STEP_H__
#define __ROBERT_STEP_H__
#include <Arduino.h>
#include <string.h>

#define DEG2DUTY(x) x * 11.1 + 500


#define PIN_FOOT_1_1 47  // 2
#define PIN_FOOT_1_2 41  // 14
#define PIN_FOOT_2_1 42 // 19
#define PIN_FOOT_2_2 2 // 20
#define PIN_FOOT_3_1 21
#define PIN_FOOT_3_2 20
#define PIN_FOOT_4_1 19
#define PIN_FOOT_4_2 14

void sg90_init();
void runSteps(float (*stepsArr)[9], int stepsCnt);
void runStepsCmd(char * cmd);


#endif